CN105774946B - A kind of robot with obstacle crossing function - Google Patents
A kind of robot with obstacle crossing function Download PDFInfo
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- CN105774946B CN105774946B CN201610199320.3A CN201610199320A CN105774946B CN 105774946 B CN105774946 B CN 105774946B CN 201610199320 A CN201610199320 A CN 201610199320A CN 105774946 B CN105774946 B CN 105774946B
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- servo motor
- gunpowder
- robot
- wheel
- rear frame
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- 239000003721 gunpowder Substances 0.000 claims abstract description 39
- 238000001514 detection method Methods 0.000 claims description 5
- 238000004880 explosion Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000035939 shock Effects 0.000 abstract description 4
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 230000002493 climbing Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 240000001307 Myosotis scorpioides Species 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004805 robotic Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Abstract
The present invention provides a kind of robot with obstacle crossing function, including shock-absorbing wheel, front frame, support wheel etc., the shock-absorbing wheel includes outer rim, wheel hub, the first damping spring, the second damping spring, mounting disc, and 3 articulated stands are arranged inside the outer rim；The wheel hub is equipped with 3 articulated stands in around the outer circle, is equipped with 3 flexural pivots in the inner face of wheel hub；The present invention uses four comprehensive spring shock absorption wheels, the energy that robot gets off from falling from high altitude can be absorbed, prevent damage of the ground shock power to robot interior element, recoil strength is provided when using gunpowder recoil device to robot obstacle detouring, 7 ~ 9 meters of high-wall, barrier, the obstacle climbing ability of far super general barrier-surpassing robot can easily be crossed.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of robot with obstacle crossing function.
Background technique
Earthquake disaster at present, fire, the natural calamities such as terrorism or man-made disaster constantly threaten the hair of human society
Exhibition and safety, the barrier-surpassing robot also increasing, current for the intelligence machine Man's Demands with functions such as scouting, obstacle detourings
It is most of be it is caterpillar, cannot climb over a high wall, the barriers such as hedge, hinder the development of barrier-surpassing robot.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of robot with obstacle crossing function, the bullet of high damping performance is utilized
Spring formula shock-absorbing wheel and damping frame cooperation have the gunpowder recoiling device of controllability, and robot is made to be provided with high obstacle detouring
Ability can easily cross 7 ~ 9 meters of high-wall, barrier.Technical solution used in the present invention is: a kind of with obstacle crossing function
Robot, including shock-absorbing wheel, front frame, support wheel, camera, controller, vehicle frame damping spring, Rear frame, the first servo
Motor, gunpowder recoil device, the second servo motor, swivel mount, support rod, steering engine, first connecting rod, second connecting rod, third servo electricity
Machine, it is characterised in that: the shock-absorbing wheel includes outer rim, wheel hub, the first damping spring, the second damping spring, mounting disc,
3 articulated stands are set inside the outer rim；The wheel hub is equipped with 3 articulated stands in around the outer circle, in wheel hub
Inner face is equipped with 3 flexural pivots；The mounting disc outer end face is equipped with 3 articulated stands；First damping spring
One end is rotatablely installed on the articulated stand inside outer rim, and the other end is rotatably installed in the articulated stand of wheel hub around the outer circle
On；Through bulb hinged on the flexural pivot on wheel hub inner face, other end rotation is pacified for the second described damping spring one end
On the articulated stand on mounting disc outer end face；The vehicle frame damping spring be disposed in parallel in front frame and Rear frame it
Between；Second servo motor is fixed on Rear frame top straight up；The swivel mount is existed by center disk and setting
6 struts around center disk are constituted, and wherein center disk is fixedly connected with the output shaft of the second servo motor, strut end
First servo motor is set, and first servo motor is horizontally mounted；The gunpowder recoil device is arranged in peace by mounting flange and 6
The gunpowder back flush unit for filling flange front end is constituted, and each gunpowder back flush unit includes a miniature electric cap and a miniature gunpowder
Pipe, miniature saucisson is provided with 6 ~ 10 grams of cordites, is often finished a gunpowder back flush unit when in use and just allows the first servo
Motor rotates 60 °, and the gunpowder back flush unit of explosion is allowed to be located at lowest part always, i.e., position nearest apart from Rear frame upper surface,
And the center line in the direction and Rear frame recoiled is point-blank, allows rotation if 6 gunpowder back flush units exhaust
Pivoted frame rotates 60 °, allows a new gunpowder recoil device to be in the rearmost position of Rear frame, until whole gunpowder back flush units is used
Complete, the mounting flange back of gunpowder recoil device is mounted on the output shaft of first servo motor；The steering engine is arranged in rear car
Frame lower part, the output shaft of steering engine and the central axis of Rear frame；Described first connecting rod one end is fixed on the output shaft of steering engine
On, the end of the other end and second connecting rod is articulated and connected, and the second connecting rod end and the pin in the middle part of support rod are hinged, institute
The support rod end stated is hinged on the hinge stent at Rear frame rear portion, is equipped with support wheel in support boom end；The third is watched
The two sides that motor is fixed on front frame and Rear frame are taken, the shock-absorbing wheel is fixedly mounted on third servo electricity by mounting disc
On the output shaft of machine；The camera is arranged in front frame front；The controller is fixed on the rear portion of front frame, control
Device is connected by route with first servo motor, the second servo motor, third servo motor, electric cap, camera.
Further, the outer rim is by fluorubber material through injecting.
Further, lithium battery is housed, controller can be by wirelessly whole with mobile phone, computer etc. inside the controller
End carries out real-time communication.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that
1. using four comprehensive spring shock absorption wheels, the energy that robot gets off from falling from high altitude can be absorbed, prevent
Damage of the ground shock power to robot interior element.
2. providing recoil strength when using gunpowder recoil device to robot obstacle detouring, 7 ~ 9 meters of high-wall, obstacle can be easily crossed
Object, the obstacle climbing ability of far super general barrier-surpassing robot.
3. by setting camera careful scouting, detection can be carried out to scouting, detecting place, finally by control
Device is sent to detection data on hand-held terminal device.
Detailed description of the invention
Fig. 1 is whole assembly schematic perspective view of the invention.
Fig. 2 is the schematic side view when present invention carries out obstacle detouring.
Fig. 3 is another angle schematic diagram when the present invention carries out obstacle detouring.
Fig. 4 is bottom substance schematic diagram of the invention.
Fig. 5 is shock-absorbing wheel structural schematic diagram of the invention.
Fig. 6 is shock-absorbing wheel contained spring scheme of installation of the invention.
Fig. 7 is wheel hub structure schematic diagram of the invention.
Drawing reference numeral: 1- shock-absorbing wheel；2- front frame；3- support wheel；4- camera；5- controller；6- vehicle frame damping bullet
Spring；7- Rear frame；8- first servo motor；9- gunpowder recoil device；The second servo motor of 10-；11- swivel mount；12- support rod；
13- steering engine；14- first connecting rod；15- second connecting rod；16- third servo motor；The outer rim of 101-；102- wheel hub；103- first
Damping spring；The second damping spring of 104-；105- mounting disc.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment 1
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, a kind of robot with obstacle crossing function, including shock-proof cart
Take turns 1, front frame 2, support wheel 3, camera 4, controller 5, vehicle frame damping spring 6, Rear frame 7, first servo motor 8, gunpowder
Recoil device 9, the second servo motor 10, swivel mount 11, support rod 12, steering engine 13, first connecting rod 14, second connecting rod 15, third are watched
Take motor 16, it is characterised in that: the shock-absorbing wheel 1 includes outer rim 101, wheel hub 102, the first damping spring 103, second
3 articulated stands are arranged inside the outer rim 101 for damping spring 104, mounting disc 105；The wheel hub 102 is in outer circle
Surrounding is equipped with 3 articulated stands, is equipped with 3 flexural pivots in the inner face of wheel hub 102；On 105 outer end face of mounting disc
Equipped with 3 articulated stands；Described 103 one end of the first damping spring is rotatablely installed on the articulated stand inside outer rim 101,
The other end is rotatably installed on the articulated stand of 102 around the outer circle of wheel hub；Described 104 one end of the second damping spring passes through bulb
It is hinged on the flexural pivot on 102 inner face of wheel hub, the other end is rotatably installed in the articulated stand on 105 outer end face of mounting disc
On；The vehicle frame damping spring 6 is disposed in parallel between front frame 2 and Rear frame 7；Second servo motor 10 is vertical
It is fixed on 7 top of Rear frame upwards；The swivel mount 11 by center disk and centrally disposed disk perimeter 6 strut structures
At, wherein center disk is fixedly connected with the output shaft of the second servo motor 10, and first servo motor 8 is arranged in strut end, the
One servo motor 8 is horizontally mounted；The gunpowder recoil device 9 is arranged in the gunpowder of mounting flange front end by mounting flange and 6
Back flush unit is constituted, and each gunpowder back flush unit includes a miniature electric cap and a miniature saucisson, in miniature saucisson
Equipped with 6 grams of cordites, it is often finished a gunpowder back flush unit when in use, first servo motor 8 is just allowed to rotate 60 °, allow always
The gunpowder back flush unit of explosion is located at lowest part, i.e., position nearest apart from 7 upper surface of Rear frame, and the direction recoiled with after
The center line of vehicle frame 7 point-blank, allows swivel mount 11 to rotate 60 ° if 6 gunpowder back flush units exhaust, allows one
A new gunpowder recoil device 9 is in the rearmost position of Rear frame 7, and until whole gunpowder back flush units is finished, gunpowder recoils device 9
Mounting flange back be mounted on the output shaft of first servo motor 8；The steering engine 13 is arranged in 7 lower part of Rear frame, rudder
The output shaft of machine 13 and the central axis of Rear frame 7；Described 14 one end of first connecting rod is fixed on the output shaft of steering engine 13,
The end of the other end and second connecting rod 15 is articulated and connected, and the pin at 12 middle part of 15 end of second connecting rod and support rod is cut with scissors
It connects, 12 end of support rod is hinged on the hinge stent at 7 rear portion of Rear frame, is equipped with support wheel 3 in 12 end of support rod；Institute
The third servo motor 16 stated is fixed on the two sides of front frame 2 and Rear frame 7, and the shock-absorbing wheel 1 is solid by mounting disc 105
Dingan County is on the output shaft of third servo motor 16；The camera 4 is arranged in 2 front of front frame；The controller 5
It is fixed on the rear portion of front frame 2, controller 5 passes through route and first servo motor 8, the second servo motor 10, third servo electricity
Machine 16, electric cap, camera 4 are connected.
The outer rim 101 is by fluorubber material through injecting.
Lithium battery is housed, controller 5 can be by wirelessly carrying out with terminals such as mobile phone, computers inside the controller 5
Real-time communication.
Working principle of the present invention: robot drives 1 row of shock-absorbing wheel by third servo motor 16 on smooth-riding surface
Walk, steering engine 13 then utilized to drive support rod 12 that robot standing is come when needing to carry out obstacle detouring, robot and ground in 70 ° ~
85 ° of angles are adjusted then by the saucisson in cap sensitive gunpowder back flush unit after angle, recoil strength when using gunpowder explosion
Robot is pushed in the air, fall after surmounting obstacles on the ground, robot is absorbed by shock-absorbing wheel 1 and vehicle frame damping spring 6
From the energy fallen down in the air, carries out scouting perhaps detection operations after surmounting obstacles and pass through after scouting or detecting completion
Controller 5 is sent to result on the handheld terminal of operator.
Claims (1)
1. a kind of robot with obstacle crossing function, including shock-absorbing wheel (1), front frame (2), support wheel (3), camera (4),
Controller (5), vehicle frame damping spring (6), Rear frame (7), first servo motor (8), gunpowder recoil device (9), the second servo electricity
Machine (10), swivel mount (11), support rod (12), steering engine (13), first connecting rod (14), second connecting rod (15), third servo motor
(16), it is characterised in that: the shock-absorbing wheel (1) include outer rim (101), wheel hub (102), the first damping spring (103),
Second damping spring (104), mounting disc (105), the outer rim (101) is internal to be arranged 3 articulated stands；The wheel hub
(102) 3 articulated stands are equipped in around the outer circle, are equipped with 3 flexural pivots in the inner face of wheel hub (102)；The installation
Disk (105) outer end face is equipped with 3 articulated stands；Described the first damping spring (103) one end is rotatablely installed in outer rim
(101) on internal articulated stand, the other end is rotatably installed on the articulated stand of wheel hub (102) around the outer circle；Described
Through bulb hinged on the flexural pivot on wheel hub (102) inner face, the other end is rotatablely installed for two damping springs (104) one end
On the articulated stand on mounting disc (105) outer end face；The vehicle frame damping spring (6) be disposed in parallel in front frame (2) and
Between Rear frame (7)；Second servo motor (10) is fixed on Rear frame (7) top straight up；The swivel mount
(11) it is made of 6 struts of center disk and centrally disposed disk perimeter, wherein center disk and the second servo motor
(10) output shaft is fixedly connected, and first servo motor (8) are arranged in strut end, and first servo motor (8) is horizontally mounted；It is described
Gunpowder recoil device (9) be made of the gunpowder back flush unit that mounting flange and 6 are arranged in mounting flange front end, each gunpowder is anti-
Rushing unit includes a miniature electric cap and a miniature saucisson, and miniature saucisson is provided with 6 ~ 10 grams of cordites, makes
Used time, which is often finished a gunpowder back flush unit, just allows first servo motor (8) to rotate 60 °, allows the gunpowder back flush unit of explosion always
Positioned at lowest part, i.e., position nearest apart from Rear frame (7) upper surface, and the center line in the direction and Rear frame (7) recoiled
Point-blank, it allows swivel mount (11) to rotate 60 ° if 6 gunpowder back flush units exhaust, allows a new gunpowder
Recoil device (9) is in the rearmost positions of Rear frame (7), and until whole gunpowder back flush units is finished, gunpowder recoils the peace of device (9)
Dress flange back is mounted on the output shaft of first servo motor (8)；The steering engine (13) is arranged in Rear frame (7) lower part,
The output shaft of steering engine (13) and the central axis of Rear frame (7)；Described first connecting rod (14) one end is fixed on steering engine (13)
Output shaft on, the end of the other end and second connecting rod (15) is articulated and connected, the second connecting rod (15) end and support rod
(12) pin in the middle part of is hinged, and the support rod (12) end is hinged on the hinge stent at Rear frame (7) rear portion, in support rod
(12) end is equipped with support wheel (3)；The third servo motor (16) is fixed on the two sides of front frame (2) and Rear frame (7),
The shock-absorbing wheel (1) is fixedly mounted on the output shaft of third servo motor (16) by mounting disc (105)；Described takes the photograph
As head (4) are arranged in front frame (2) front；The controller (5) is fixed on the rear portion of front frame (2), and controller (5) passes through
Route is connected with first servo motor (8), the second servo motor (10), third servo motor (16), electric cap, camera (4)；
The outer rim (101) is by fluorubber material through injecting；Lithium battery, controller are housed inside the controller (5)
(5) by wirelessly carrying out real-time communication with mobile phone, computer terminal；Robot on smooth-riding surface by third servo motor (
16) driving shock-absorbing wheel (1) walking, then utilized when needing to carry out obstacle detouring steering engine (13) driving support rod (12)
Robot, which erects, to be come, and robot and ground are in 70 ° ~ 85 ° angles, is then passed through in cap sensitive gunpowder back flush unit after adjusting angle
Saucisson, robot pushes in the air, be fallen after surmounting obstacles on the ground, by damping by recoil strength when using gunpowder explosion
Wheel (1) and vehicle frame damping spring (6) absorb robot from the energy fallen down in the air, are scouted after surmounting obstacles
Perhaps detection operations are scouted or the handheld terminal for result being sent to by controller (5) later operator is completed in detection
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199320.3A CN105774946B (en) | 2016-04-02 | A kind of robot with obstacle crossing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199320.3A CN105774946B (en) | 2016-04-02 | A kind of robot with obstacle crossing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105774946A CN105774946A (en) | 2016-07-20 |
| CN105774946B true CN105774946B (en) | 2019-07-16 |
Family
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06198582A (en) * | 1992-11-05 | 1994-07-19 | Commiss Energ Atom | Walking robot foot |
| JPH09142346A (en) * | 1995-11-17 | 1997-06-03 | Toyota Motor Corp | Vehicle |
| JP4554140B2 (en) * | 2002-03-12 | 2010-09-29 | 独立行政法人科学技術振興機構 | Multi-legged walking robot |
| CN203237312U (en) * | 2013-05-06 | 2013-10-16 | 中国科学技术大学 | Combination shape-shifting mobile robot with elastic feet and wheel-type movement mechanism combined |
| CN103661659A (en) * | 2013-12-05 | 2014-03-26 | 上海工程技术大学 | Jumping robot based on tripping energy-storing-releasing mechanism |
| CN104608837A (en) * | 2015-01-16 | 2015-05-13 | 燕山大学 | Wheel-leg composite type four-leg robot |
| CN105128973A (en) * | 2015-07-27 | 2015-12-09 | 徐金鹏 | Mars detection vehicle chassis |
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06198582A (en) * | 1992-11-05 | 1994-07-19 | Commiss Energ Atom | Walking robot foot |
| JPH09142346A (en) * | 1995-11-17 | 1997-06-03 | Toyota Motor Corp | Vehicle |
| JP4554140B2 (en) * | 2002-03-12 | 2010-09-29 | 独立行政法人科学技術振興機構 | Multi-legged walking robot |
| CN203237312U (en) * | 2013-05-06 | 2013-10-16 | 中国科学技术大学 | Combination shape-shifting mobile robot with elastic feet and wheel-type movement mechanism combined |
| CN103661659A (en) * | 2013-12-05 | 2014-03-26 | 上海工程技术大学 | Jumping robot based on tripping energy-storing-releasing mechanism |
| CN104608837A (en) * | 2015-01-16 | 2015-05-13 | 燕山大学 | Wheel-leg composite type four-leg robot |
| CN105128973A (en) * | 2015-07-27 | 2015-12-09 | 徐金鹏 | Mars detection vehicle chassis |
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| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190617 Address after: 350000 Second Floor 2E-239 of Six Affiliated Buildings in Shuijian New Village, Jianhua Branch Lane, Gulou District, Fuzhou City, Fujian Province Applicant after: Fujian Shengyuan Information Technology Co., Ltd. Address before: 426100 Xichong, Shizitang, Qiyang County, Yongzhou City, Hunan Province Applicant before: Yang Ding |
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| GR01 | Patent grant |